CN116601518A

CN116601518A - Laser radar control method and device, laser radar and storage medium

Info

Publication number: CN116601518A
Application number: CN202180083705.2A
Authority: CN
Inventors: 张晓鹤
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2023-08-15
Also published as: WO2022257137A1

Abstract

A laser radar control method, the laser radar being a coaxial laser radar, the method comprising: controlling the laser radar to emit light pulses in a first gear and receiving echo signals corresponding to the light pulses; if only one echo signal is received in the time window of the light pulse, switching the laser radar to a second gear, so that the laser radar emits the next light pulse in the second gear; the laser emission power and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than that of the first gear. The technical problem that a target signal reflected by a measured object and an interference signal reflected by the laser radar are fused and then exceed the linear dynamic range of a receiving system, so that the target signal cannot be restored is solved; another laser radar control method, the laser radar includes a plurality of channels, the plurality of channels transmit light pulses and receive echo signals at the same time, the method includes: controlling a plurality of channels of the laser radar to emit light pulses at a first power; if echo signals corresponding to the light pulses emitted by the channels are not received by the channels in the reserved time period, controlling the channels of the laser radar to emit the next light pulse at the second power; wherein the first power is less than the second power.

Description

Laser radar control method and device, laser radar and storage medium

Technical Field

The present application relates to the field of lidar technologies, and in particular, to a lidar control method, a lidar control device, a lidar, and a computer-readable storage medium.

Background

The laser radar is an optical ranging device, which can actively emit light pulses to a measured object and acquire echo signals corresponding to the light pulses reflected by the measured object. According to the time difference between the moment of transmitting the light pulse and the moment of receiving the echo signal, the depth information between the measured object and the laser radar can be calculated. According to the known emergent direction when the light pulse is emitted, the angle information of the measured object relative to the laser radar can be obtained. And combining the measured depth information and the measured angle information to obtain the point cloud point corresponding to the position reached by the light pulse. By respectively emitting light pulses in different directions, point clouds corresponding to the current scene can be obtained, and the spatial three-dimensional information of the measured object relative to the laser radar is reconstructed, wherein the point clouds are a set of a plurality of point clouds.

Disclosure of Invention

In view of this, an embodiment of the present application provides a method and apparatus for controlling a laser radar, a laser radar and a computer readable storage medium, which aims to solve a technical problem that a target signal reflected by a measured object and an interference signal reflected by the laser radar are beyond a linear dynamic range of a receiving system after being fused, so that the target signal cannot be recovered.

A first aspect of an embodiment of the present application provides a lidar control method, which is applied to a coaxial lidar, and the method includes:

controlling the laser radar to emit light pulses in a first gear, and receiving echo signals corresponding to the light pulses;

if only one echo signal is received in the time window of the light pulse, switching the laser radar to a second gear, and enabling the laser radar to emit the next light pulse in the second gear;

the laser emission power corresponding to the second gear is lower than the laser emission power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than the amplification factor of the receiving circuit corresponding to the first gear.

A second aspect of an embodiment of the present application provides a laser radar control method, where the laser radar includes a plurality of channels, and the plurality of channels perform emission of an optical pulse and reception of an echo signal at the same time, and the method includes:

controlling the plurality of channels of the lidar to each emit a pulse of light at a first power;

if the channels do not receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels of the laser radar to emit the next light pulse with the second power;

Wherein the first power is less than the second power.

A third aspect of the embodiment of the present application provides a laser radar control device, where the laser radar is a coaxial laser radar, and the device includes: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

A fourth aspect of the embodiment of the present application provides a laser radar control device, where the laser radar includes a plurality of channels, and the plurality of channels perform emission of optical pulses and reception of echo signals at the same time, and the device includes: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

wherein the first power is less than the second power.

A fifth aspect of an embodiment of the present application provides a lidar, including:

a light source for emitting a sequence of light pulses;

an optical system for adjusting an outgoing direction of the light pulse;

the receiving circuit is used for receiving echo signals corresponding to the optical pulses;

the transmitting light path and the receiving light path of the laser radar are partially identical;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

A sixth aspect of an embodiment of the present application provides a lidar, including:

each channel comprises a light source and a receiving circuit, wherein the light source is used for transmitting a light pulse sequence, the receiving circuit is used for receiving an echo signal corresponding to a light pulse of the channel in which the light source is positioned, and the channels simultaneously transmit the light pulse and receive the echo signal;

an optical system for adjusting an outgoing direction of the light pulse;

Wherein the first power is less than the second power.

A seventh aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements any of the methods provided by the embodiments of the present application.

According to the laser radar control method provided by the embodiment of the application, when the laser radar emits the light pulse in the first gear, if only one echo signal is received in the time window of the light pulse, the laser radar can be controlled to switch to the second gear, and the next light pulse is emitted in the second gear. Because the laser emission power of the second gear and/or the amplification factor of the receiving circuit are lower, the intensity of the target signal reflected by the measured object is also lower, the target signal and the interference signal are fused and cannot exceed the linear dynamic range of the receiving system of the laser radar, namely, the fused echo signal cannot be distorted, so that the real target signal can be restored by utilizing the real fused echo signal, the distance of the measured object is calculated accurately, and the problem of the short-distance blind area of the laser radar is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a coaxial lidar according to an embodiment of the present application.

Fig. 2 is a schematic diagram of generation of an interference signal and a target signal according to an embodiment of the present application.

Fig. 3A is a schematic diagram of an unfused target signal and interference signal according to an embodiment of the present application.

Fig. 3B is a schematic diagram of target signal and interference signal fusion according to an embodiment of the present application.

Fig. 4 is a flowchart of a lidar control method according to an embodiment of the present application.

Fig. 5 is a flowchart of another lidar control method according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a lidar control device according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a multi-channel lidar according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The lidar typically comprises a transmit optical path and a receive optical path, which may be coaxial lidar, and the transmit optical path and the receive optical path may be partially identical, i.e. the path taken by the transmitted light pulse is partially identical to the path taken by the reflected echo signal. Referring to fig. 1, fig. 1 is a schematic structural diagram of a coaxial lidar according to an embodiment of the present application. The light source is used for emitting light pulse sequences, and the emitted light pulses are emitted to different directions through the optical system under the refraction of the optical system and reflected after reaching the object to be measured. The reflected echo signals reach the receiving circuit through partial identical light paths, and the receiving circuit transmits the acquired signals to the processor for analysis and processing.

Since the transmitting optical path and the receiving optical path of the coaxial laser radar are partially identical, after the coaxial laser radar transmits a beam of optical pulse, a receiving circuit of the laser radar may receive two echo signals corresponding to the optical pulse, wherein the first echo signal is an echo signal reflected by the laser radar itself, and since the echo signal reflected by the laser radar is not beneficial to the distance measurement of the measured object, the echo signal can be called an interference signal, and the second echo signal is an echo signal reflected by the measured object, and can be used for calculating the distance of the measured object, and therefore the echo signal can be called a target signal.

Referring to fig. 2, fig. 2 is a schematic diagram of generation of an interference signal and a target signal according to an embodiment of the present application. The interference signal is an echo signal reflected by an optical system of the laser radar, and the generation of the interference signal is related to factors such as materials, manufacturing, installation and the like of the optical system of the laser radar. So-called optical systems may in one embodiment comprise at least optical components in the light path, such as lenses, prisms, glass of the light exit window, etc., and in one embodiment also supports for supporting these optical components.

When the laser radar measures distance, if a measured object exists in a certain direction, the interference signal and the target signal may or may not be fused according to different distances of the measured object. It can be understood that the receiving time of the target signal is positively correlated with the distance of the measured object, the farther the distance of the measured object is, the later the receiving time of the target signal is, and the closer the distance of the measured object is, the earlier the receiving time of the target signal is. The time of reception of the interfering signal is relatively fixed, typically in the early part of the time window. Therefore, when the distance between the measured object is far, the receiving time of the target signal and the receiving time of the interference signal can be staggered (as shown in fig. 3A), and the accurate distance between the measured object can be calculated by using the target signal received later. However, when the distance between the measured object is relatively short, the receiving time of the target signal and the interfering signal is close, so that the target signal and the interfering signal are fused (as shown in fig. 3B), and the distance between the measured object cannot be measured accurately.

The problem that the ranging accuracy is greatly reduced due to the fusion of the target signal and the interference signal can be solved by means of restoring the target signal in one embodiment. Specifically, the interference signals corresponding to different emitting directions can be calibrated in advance, and when a certain emitting direction is detected, the interference signals corresponding to the emitting direction can be determined according to the corresponding relation calibrated in advance. At this time, even if the received echo signal is the result of fusion of the interference signal and the target signal, the target signal can be restored from the received echo signal by using the calibrated interference signal, so that the distance of the accurate measured object can be calculated.

The near blind area of the laser radar can be greatly improved in the mode, but the problem to be solved still exists, and particularly, the linear dynamic range of a receiving system of the laser radar is limited, the intensity of an interference signal reflected by the laser radar is high, the intensity of a target signal reflected by a short-distance measured object is also high, and when the interference signal and the target signal are fused, the intensity of an echo signal after fusion exceeds the linear dynamic range of the system, so that the received echo signal generates nonlinear distortion. Thus, even if an accurate interference signal is calibrated in advance, a real target signal cannot be restored by using a received echo signal which is distorted.

In order to solve the above-mentioned problems, an embodiment of the present application provides a laser radar control method, which is applied to a coaxial laser radar in which a transmitting optical path and a receiving optical path are partially identical, and reference may be made to fig. 4, and fig. 4 is a flowchart of the laser radar control method provided in the embodiment of the present application, where the method may include the following steps:

s402, controlling the laser radar to emit light pulses in a first gear and receiving echo signals corresponding to the light pulses.

S404, if only one echo signal is received in the time window of the light pulse, the laser radar is switched to the second gear, and the laser radar emits the next light pulse in the second gear.

The first gear and the second gear are different in laser emission power and/or amplification factor of the receiving circuit. Specifically, the laser emission power corresponding to the second gear is lower than the laser emission power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than the amplification factor of the receiving circuit corresponding to the first gear.

It will be appreciated that the higher the laser power used when the laser radar emits light pulses, the higher the intensity of the echo signal corresponding to the received light pulses, i.e. the laser power is positively correlated with the intensity of the echo signal. The higher the amplification factor of the receiving circuit adopted by the laser radar in detection, the higher the intensity of the received echo signal (because the received echo signal is amplified more), namely the amplification factor of the receiving circuit is positively correlated with the intensity of the echo signal.

Since the first gear is higher than the second gear in the amplification factor of the laser transmitting power and/or the receiving circuit, when the laser radar transmits the light pulse in the first gear, the intensity of the target signal reflected by the object to be measured is relatively high. At this time, if only one echo signal is received within the time window of the light pulse, it means that one of the following two situations may occur, in which, in the first situation, the distance of the measured object is relatively close, the target signal reflected by the measured object and the interference signal reflected by the laser radar itself are fused, so that the number of received echo signals is only one; in the second case, there is no measured object in the outgoing direction of the current light pulse, and the echo signal reflected by the measured object is not included in the echo signal reflected by the measured object, that is, the received echo signal is only an interference signal.

In one embodiment, the two cases described above can be distinguished. Specifically, since the echo signals without fusion generally have strong regularity in terms of intensity, pulse width, slope, and the like, if only one echo signal is received within a time window of an optical pulse, the waveform parameters of the received echo signals can be extracted, and the waveform parameters are compared with preset waveform parameters, where the preset waveform parameters may be waveform parameters of echo signals without fusion stored in advance by the laser radar. If the difference between the two waveform parameters exceeds the set threshold value, it can be determined that the first situation is that a target signal exists, and the target signal and the interference signal are fused, so that only one echo signal is received in a time window. Otherwise, if the difference between the two waveform parameters is smaller than the set threshold value, it can be determined that the second condition is that the target signal is not present, and the received echo signal is the interference signal.

In one embodiment, the two cases may not be distinguished, but may be directly considered as the first case, so as to ensure safety to the greatest extent. Since the lidar is usually mounted on a movable platform such as a vehicle and is responsible for sensing the surrounding environment of the movable platform, if only one echo signal is received within a time window, for safety reasons, a detected object may be default to exist, and the distance of the detected object is too close, so that fusion of the target signal and the interference signal occurs. On the basis, because the current light pulse and echo signals are transmitted and received by the laser radar in the first gear, the strength of the target signal reflected by the measured object is high, and after the target signal is fused with the interference signal, the linear dynamic range of a receiving system of the laser radar is exceeded, namely the received echo signals are distorted, so that the real target signal cannot be restored.

In view of the above problems, when only one echo signal is received in the time window of the optical pulse, the embodiment of the application can directly switch the gear of the laser radar, that is, switch the gear of the laser radar from the first gear to the second gear, so that the laser radar transmits the next optical pulse in the second gear and receives the echo signal corresponding to the next optical pulse. Because the laser emission power corresponding to the second gear and/or the amplification factor of the receiving circuit are lower, the intensity of the target signal reflected by the measured object is lower, the linear dynamic range of the receiving system cannot be exceeded after the target signal and the interference signal are fused, and therefore the received fused echo signal can be restored according to the pre-calibrated interference signal, the target signal is obtained through restoration, and the distance of the measured object is accurately calculated.

It will be appreciated that the detection position of the current light pulse relative to the next light pulse may be the same or different. For example, in one embodiment, optics in a lidar may remain in the same pose when two light pulses are emitted, and thus the exit directions of the two emitted light pulses may be the same. In one embodiment, the optical device in the laser radar may also be continuously kept rotating, and if the emission interval between the current light pulse and the next light pulse is small, the amplitude of rotation of the optical device in the emission interval is also small, so that the pose change can be approximately considered not to occur, and thus, the detection position corresponding to the current light pulse and the next light pulse can be considered to be the same. Of course, if the emission interval between the current light pulse and the next light pulse is larger, the detection position of the current light pulse and the detection position of the next light pulse will deviate, and belong to two different detection positions, but it should be noted that even if two different detection positions are provided, since the emission interval of the two light pulses emitted from front to back is not too large, the two detection positions are not too far apart, for example, two different positions of the same measured object are likely to be.

In one embodiment, after the lidar transmits the next light pulse in the second gear, an echo signal corresponding to the next light pulse may be received. Since the next light pulse and the last light pulse are two light pulses emitted back and forth, the next light pulse and the last light pulse do not have an excessive gap between the outgoing direction and the reached position, and the detection of the same detected object is usually performed, that is, the distance between the detected objects is still relatively close, and an echo signal is still received in a time window, where the echo signal may be obtained by fusing a target signal reflected by the detected object and an interference signal.

As described above, since the laser emission power of the second gear and/or the amplification factor of the receiving circuit are low, the linear dynamic range of the receiving system of the laser radar is not exceeded after the target signal and the interference signal are fused, so that the target signal can be recovered from the received echo signal. And when the reduction is specifically performed, the interference signal corresponding to the emitting direction of the next light pulse can be determined according to a pre-calibrated corresponding relation, wherein the corresponding relation is the corresponding relation between the pre-calibrated emitting direction and the interference signal. After determining the interference signal or determining the waveform parameter corresponding to the interference signal, the target signal may be calculated based on the interference signal and the received echo signal, and specifically, the received echo signal may be subtracted from the determined interference signal, thereby obtaining the target signal. After the target signal is obtained, the distance of the measured object can be calculated according to the receiving time corresponding to the target signal.

When the corresponding relation between the emergent direction and the interference signal is calibrated, the factors influencing the interference signal comprise the laser emission power corresponding to the current emitted light pulse besides the emergent direction, so that the laser emission power corresponding to each direction can be kept the same in the calibration process. In one embodiment, it can be ensured that the laser radar emits light pulses in the second gear in the respective direction to be calibrated when calibrating the correspondence. Because the calibrated interference signal is used for restoring the target signal, the target signal can be restored successfully only when the received fusion signal is not distorted, and the received fusion signal is not distorted and the laser radar is required to emit light pulses in the second gear, the laser radar is kept in the second gear in the calibration process, and the restored target signal can be more accurate.

In one embodiment, if the lidar emits a light pulse in the first gear and receives two echo signals in the time window of the light pulse, it may be determined that the target signal and the interference signal are not fused, and at this time, the echo signal received later may be determined as the target signal, and the distance of the measured object may be calculated according to the target signal.

In one embodiment, if the calculated distance between the measured objects is smaller than the preset distance threshold, the lidar may be switched from the first gear to the second gear in consideration of reducing power consumption and prolonging the service life of the lidar. At this time, although the amplification factor of the laser transmitting power and/or the receiving circuit corresponding to the second gear is lower, the measured object can still be detected because the distance of the measured object is not too far, thereby achieving the technical effects of meeting the laser safety rule, reducing the power consumption of the laser radar and prolonging the service life of the laser radar.

In one embodiment, if the calculated distance between the measured object is greater than the preset distance threshold or the energy of the echo signal received later is less than the preset energy threshold, the next light pulse may be continuously transmitted in the first gear, or the next light pulse may be transmitted in the third gear, where the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplifying power of the receiving circuit corresponding to the third gear is higher than the amplifying power of the receiving circuit corresponding to the first gear.

When the energy of the echo signal received later is smaller than the preset energy threshold value, the reflectivity of the detected object in the current detection direction is lower or the distance between the detected objects is longer, so that the detected object with low reflectivity or longer distance can be detected continuously with the first gear with higher laser emission power and/or higher amplification factor of the receiving circuit or with the third gear with higher laser emission power and/or higher amplification factor of the receiving circuit when the next light pulse is emitted, and the ranging accuracy of the detected object with low emissivity or longer distance can be improved.

As described above, when the lidar emits the light pulse in the first gear and only receives one echo signal in the time window of the light pulse, there may be two cases, the first is that the target signal is fused with the interference signal, and the second is that there is no measured object in the emitting direction of the current light pulse, that is, there is no target signal reflected by the measured object. If the second situation actually occurs, after the lidar is switched to the second gear, the detection range of the lidar is shortened because the amplification factor of the laser transmitting power and/or the receiving circuit corresponding to the second gear is lower, and if the detected object appears outside the detection range at this time, the detected object appearing outside the detection range cannot be detected, and omission in detection is at high risk for the lidar applied to the automatic driving field.

In order to solve the above-mentioned problem, in one embodiment, if only one echo signal (where N may be set according to actual requirements and may be a preset frequency threshold) received in the time window of the optical pulse is continuously generated N times during the detection of the optical pulse emitted by the laser radar, the laser radar may be forcedly switched from the second gear to the first gear, the next optical pulse may be emitted in the first gear, or the laser radar may be switched from the second gear to the third gear, the next optical pulse may be emitted in the third gear, and the laser emission power and/or the amplification factor of the receiving circuit of the third gear may be higher than that of the first gear. By the mode, the laser radar can be prevented from adopting the second gear for detection all the time, and therefore the phenomenon that a detected object newly appearing at a distance cannot be detected can be avoided.

In one embodiment, the lidar may be configured with a plurality of gear steps, each gear step may be different in laser emission power or different in amplification factor of the receiving circuit, and the first gear step and the second gear step may be any gear step of the plurality of gear steps, but the condition that the laser emission power of the first gear step and/or the amplification factor of the receiving circuit is higher than the second gear step is satisfied between the first gear step and the second gear step.

In some lidar applications, a sufficiently high point cloud density of the point cloud of the scene acquired by the lidar is required. The laser radar can comprise a plurality of channels, each channel can transmit light pulses and receive echo signals, so that the plurality of channels of the laser radar can transmit and receive the light pulses at the same time during detection, and the point cloud density can be greatly improved.

When a plurality of channels transmit and receive simultaneously, crosstalk may occur between the channels due to stray light, defocus, or the like. When receiving echo signals, one channel receives a target echo signal returned by an optical pulse transmitted by the channel, and also receives crosstalk signals returned by optical pulses transmitted by other channels. When one channel receives crosstalk signals caused by other channels and simultaneously receives a target echo signal of the channel, the target echo signal is fused with the crosstalk signals, so that a result with higher accuracy cannot be calculated.

In order to solve the above-mentioned problems, an embodiment of the present application provides a laser radar control method, which may be applied to a laser radar for receiving and transmitting multiple channels simultaneously, that is, the laser radar includes multiple channels, and the multiple channels transmit optical pulses and receive echo signals simultaneously, and reference may be made to fig. 5, and fig. 5 is a flowchart of another laser radar control method provided by the embodiment of the present application, where the method may include:

S502, controlling a plurality of channels of the laser radar to emit light pulses at a first power.

S504, if the multiple channels do not receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the laser radar to emit the next light pulse at the second power.

Wherein the first power is less than the second power.

For convenience of distinction, the echo signal corresponding to the light pulse emitted by one channel itself is referred to herein as the target echo signal.

For the multi-channel laser radar, when the multi-channels transmit and receive simultaneously, crosstalk may occur between the channels, but the crosstalk signals from other channels are generally far smaller than the target echo signals corresponding to the channels, for example, the a-channel and the B-channel transmit light pulses with the same power, and if the strength of the target echo signal of the channel received by the a-channel is K, the strength of the crosstalk signal received by the a-channel from the B-channel may be K/10000. Thus, in one embodiment, each channel of the lidar may be configured to emit a light pulse at a lower power, so that the intensity of the target echo signal corresponding to each channel is lower, and on this basis, the intensity of the crosstalk signal that is much smaller than the target echo signal is lower, so that each channel cannot detect the crosstalk signals from other channels, or the detected crosstalk signals are too small to be ignored.

When a plurality of channels of the laser radar emit light pulses at lower first power, crosstalk signals among the channels cannot be detected or can be ignored, so that target echo signals of own channels received by all the channels cannot be interfered by the crosstalk signals, and all the channels can calculate the distance of an accurate measured object by utilizing the target echo signals of the own channels.

However, it should be noted that the first power is a lower laser emission power, so when the laser radar detects with the first power, the detection range of the laser radar is limited, and only a short-distance object to be detected or a long-distance object to be detected with high reflectivity can be detected. If multiple channels of the laser radar emit light pulses at the first power, each channel can receive target echo signals of its own channel within a reserved time period, which means that there is a short-distance object to be detected or a long-distance object to be detected with high reflectivity in the current detection direction of the laser radar, and at this time, the distances of the objects to be detected can be accurately measured due to no influence of crosstalk.

If the target echo signals corresponding to the channels are not received by each channel in the reserved time period, the method means that no short-distance measured object and no long-distance measured object with high reflectivity exist in the current detection direction, and therefore the laser radar can be controlled to emit the next light pulse with high second power. Because the second power is higher than the first power, the laser radar can detect a long-distance measured object and a short-distance measured object with low reflectivity, and because the measured object is far away or near but with low reflectivity, the strength of a target echo signal reflected by the measured object is still low, and a crosstalk signal far smaller than the target echo signal is still not detected or can be ignored, so that each channel can still calculate the accurate distance of the measured object by using the received target echo signal of the channel.

According to the laser radar control method provided by the embodiment of the application, the laser radar can detect with the first power, and because the first power is low, the crosstalk problem does not exist among all channels of the laser radar, and a short-distance measured object and a long-distance measured object with high reflectivity can be accurately measured. And when the echo signal corresponding to the light pulse is not received in the reserved time period, the laser radar can be controlled to transmit the next light pulse with higher second power. Since the fact that the echo signals are not received in the reserved time period means that no short-distance measured object and long-distance measured object with high reflectivity exist, when the next light pulse is transmitted at the higher second power, the strength of the echo signals reflected by the measured object is still low because the measured object is at a long distance or is at a short distance with low reflectivity, crosstalk still cannot occur between channels, and therefore the distance of the part of the measured object with the long distance or the short distance with low reflectivity can be accurately measured.

It should be noted that, in the laser radar control method for solving the problem of inter-channel crosstalk provided in the embodiment of the present application, the interference signal reflected by the laser radar itself is not considered in the description and the description of the method. For example, for the representation of echo signals that are not received by the channels in the reserved period in step S504, the interference signal reflected by the channel itself is not considered here, and only the crosstalk signal from the channel and the echo signal reflected by the object to be measured are considered.

In one embodiment, if target echo signals corresponding to the own channel are received by multiple channels of the laser radar in a reserved time period, that is, a detected object is detected, the multiple channels can be controlled to continuously transmit the next light pulse with the first power.

In light of the foregoing, the lidar is typically mounted on a movable platform, and thus the scan scene of the lidar may change with the movement of the movable platform. In one case, the multiple channels of the lidar are detecting (measuring) with the second power, and because of the change of the scanning scene (which may be the change of the scene itself, such as the occurrence of pedestrians at a close distance, or the scene change caused by the motion of the movable platform, such as the adjustment of the orientation of the movable platform), the detected object at a close distance appears in the current outgoing direction or the detected object at a far distance but with high reflectivity appears, at this time, because the intensity of the echo signal reflected by the detected object is high, a crosstalk signal will be generated between the channels. In this case, since the crosstalk signal may cause distortion and distortion of the echo signal received by the channel, in one embodiment, the result of this measurement may be discarded, and the plurality of channels may be controlled to transmit the next optical pulse at the first power, so as to eliminate the effect of the inter-channel crosstalk.

There are a number of ways in which to determine whether cross-talk of signals between channels occurs. In one embodiment, whether the signal crosstalk between channels occurs may be determined according to a comparison result of the intensity of the received echo signal and a preset threshold value. Specifically, the intensity of the minimum echo signal that may cause channel crosstalk may be calibrated in advance, and the intensity of the minimum echo signal is set to the preset threshold, and when the intensity of the echo signal received by the channels is higher than the preset threshold, it may be determined that a non-negligible crosstalk signal may be generated between the channels.

In one embodiment, the method may further be determined according to a comparison result between the waveform parameter of the received echo signal and a preset waveform parameter. When there is no crosstalk between channels, the waveform parameters of the target echo signals reflected by the measured object have strong regularity, where the waveform parameters may include one or more of the following: intensity, slope, pulse width. And when the target echo signal is fused with the crosstalk signal, the fused waveform will have a larger difference from the waveform of the fused target echo signal. Therefore, in this embodiment, the waveform parameter of the received echo signal may be compared with a preset waveform parameter, and if the difference between the waveform parameter and the preset waveform parameter is greater than a preset threshold, it may be determined that signal crosstalk between channels occurs.

The reserved period is a period for receiving an echo signal corresponding to the light pulse. In one embodiment, the duration of the reserved time period may be a time of flight corresponding to the maximum range of the lidar, where when each channel of the lidar emits a light pulse at the first power, the reserved time period is long enough to be detected for a long-distance but high-reflectivity object to be detected. However, in consideration of the fact that the frequency of occurrence of the measured object with a long distance and high reflectivity is low in reality, in order to increase the sampling frequency, that is, reduce the time interval between the two light pulses emitted before and after, in one embodiment, the duration of the reserved time period may be made to correspond to the flight time of the designated measuring range, and the designated measuring range may be a short distance, so that the measured object with a long distance but high reflectivity cannot be detected due to the short reserved time period, but also the sampling frequency of the laser radar is increased due to the short reserved time period, thereby increasing the density of the point cloud.

Reference may be made to fig. 6, and fig. 6 is a schematic structural diagram of a lidar control device according to an embodiment of the present application. The apparatus may be used to control a coaxial lidar in which the transmit optical path and the receive optical path are partially identical, the apparatus comprising:

a processor 610 and a memory 620 in which a computer program is stored.

In one embodiment, the processor, when executing the computer program, implements the steps of:

Optionally, the processor is further configured to:

if two echo signals are received in the time window of the light pulse, calculating the distance of the measured object according to the echo signals received later.

Optionally, the processor is further configured to:

and if the calculated distance of the measured object is smaller than a preset distance threshold value, switching the laser radar to the second gear, and transmitting the next light pulse in the second gear.

Optionally, the processor is further configured to:

and if the calculated distance of the measured object is greater than a preset distance threshold or the energy of the echo signal received later is less than a preset energy threshold, continuously transmitting the next light pulse with the first gear, or transmitting the next light pulse with a third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplifying power of the receiving circuit corresponding to the third gear is higher than the amplifying power of the receiving circuit corresponding to the first gear.

Optionally, the processor is further configured to:

if the number of continuous occurrence times of the event of receiving only one echo signal in the time window of the optical pulse reaches a preset number of times threshold, switching the laser radar to the first gear, transmitting the next optical pulse by the first gear, or switching the laser radar to a third gear, and transmitting the next optical pulse by the third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the third gear is higher than the amplification factor of the receiving circuit corresponding to the first gear.

Optionally, the processor is further configured to:

determining a corresponding interference signal according to the emergent direction of the next light pulse, wherein the interference signal is an echo signal reflected by the laser radar;

calculating a target signal based on the interference signal and the received echo signal corresponding to the next light pulse;

and calculating the distance of the measured object according to the target signal.

Optionally, the target signal is obtained by subtracting the interference signal from an echo signal corresponding to the next light pulse.

Optionally, when the processor determines the corresponding interference signal according to the outgoing direction corresponding to the next light pulse, the processor is configured to:

and determining the interference signal corresponding to the emergent direction of the next light pulse according to the corresponding relation between the pre-calibrated emergent direction and the interference signal.

Optionally, when the corresponding relation is calibrated, the laser radar emits light pulses with the laser emission power corresponding to the second gear.

Optionally, the laser radar is configured with a plurality of gears, laser emission power corresponding to different gears is different and/or amplification factor of the receiving circuit is different, and the first gear is any gear other than the second gear in the plurality of gears.

The specific implementation of the above-mentioned embodiments of the lidar control device may refer to the related descriptions in the foregoing, and will not be described herein.

According to the laser radar control device provided by the embodiment of the application, when the laser radar emits light pulses in the first gear, if only one echo signal is received in the time window of the light pulses, the laser radar can be controlled to switch to the second gear, and the next light pulse is emitted in the second gear. Because the laser emission power of the second gear and/or the amplification factor of the receiving circuit are lower, the intensity of the target signal reflected by the measured object is also lower, the target signal and the interference signal are fused and cannot exceed the linear dynamic range of the receiving system of the laser radar, namely, the fused echo signal cannot be distorted, so that the real target signal can be restored by utilizing the real fused echo signal, the accurate distance of the measured object is calculated, and the problem of the short-distance blind area of the laser radar is greatly improved.

The embodiment of the application also provides a laser radar control device which can be applied to the laser radar with multiple channels for receiving and transmitting simultaneously, namely the laser radar can comprise multiple channels for transmitting optical pulses and receiving echo signals simultaneously.

The arrangement of the apparatus may refer to fig. 6, wherein the processor may, when executing the computer program, realize the steps of:

wherein the first power is less than the second power.

Optionally, the processor is further configured to:

and if the channels all receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels to continuously emit the next light pulse with the first power.

Optionally, the processor is further configured to:

if signal crosstalk between channels occurs when the channels are measured at the second power, discarding the measurement result, and controlling the channels to emit the next light pulse at the first power.

Optionally, the signal crosstalk between the channels is determined according to a comparison result between the intensity of the received echo signal and a preset threshold value.

Optionally, the signal crosstalk between the channels is determined according to a comparison result between the waveform parameter of the received echo signal and a preset waveform parameter.

Optionally, the reserved time period is matched with a flight time corresponding to the maximum range of the laser radar.

According to the laser radar control device provided by the embodiment of the application, the laser radar can detect with the first power, and because the first power is low, the crosstalk problem does not exist among all channels of the laser radar, and a short-distance measured object and a long-distance measured object with high reflectivity can be accurately measured. And when the echo signal corresponding to the light pulse is not received in the reserved time period, the laser radar can be controlled to transmit the next light pulse with higher second power. Since the fact that the echo signals are not received in the reserved time period means that no short-distance measured object and long-distance measured object with high reflectivity exist, when the next light pulse is transmitted at the higher second power, the strength of the echo signals reflected by the measured object is still low because the measured object is at a long distance or is at a short distance with low reflectivity, crosstalk still cannot occur between channels, and therefore the distance of the part of the measured object with the long distance or the short distance with low reflectivity can be accurately measured.

An embodiment of the present application provides a laser radar, whose structure may refer to fig. 1, including:

a light source for emitting a sequence of light pulses;

an optical system for adjusting an outgoing direction of the light pulse;

Optionally, the processor is further configured to:

The specific implementation of the above-provided laser radar may refer to the relevant description in the foregoing, and will not be repeated here.

When the laser radar transmits the light pulse in the first gear, if only one echo signal is received in the time window of the light pulse, the laser radar can be controlled to switch to the second gear, and the next light pulse is transmitted in the second gear. Because the laser emission power of the second gear and/or the amplification factor of the receiving circuit are lower, the intensity of the target signal reflected by the measured object is also lower, the target signal and the interference signal are fused and cannot exceed the linear dynamic range of the receiving system of the laser radar, namely, the fused echo signal cannot be distorted, so that the real target signal can be restored by utilizing the real fused echo signal, the distance of the measured object is calculated accurately, and the problem of the short-distance blind area of the laser radar is greatly improved.

The embodiment of the application also provides a laser radar, and reference can be made to fig. 7. Fig. 7 is a schematic structural diagram of the multi-channel laser radar provided by the embodiment of the application. The laser radar includes:

A plurality of channels (3 channels are shown in fig. 7), each channel comprises a light source 710 and a receiving circuit 720, the light source is used for transmitting a light pulse sequence, the receiving circuit is used for receiving a echo signal corresponding to a light pulse of the channel where the light source is located, and the plurality of channels simultaneously transmit the light pulse and receive the echo signal;

an optical system 730 for adjusting the outgoing direction of the light pulse;

a processor 740 and a memory 750 storing a computer program, which processor when executing the computer program realizes the steps of:

wherein the first power is less than the second power.

Optionally, the processor is further configured to:

The laser radar provided by the embodiment of the application can detect with the first power, and because the first power is lower, the cross-talk problem among all channels of the laser radar does not exist, and a short-distance measured object and a long-distance measured object with high reflectivity can be accurately measured. And when the echo signal corresponding to the light pulse is not received in the reserved time period, the laser radar can be controlled to transmit the next light pulse with higher second power. Since the fact that the echo signals are not received in the reserved time period means that no short-distance measured object and long-distance measured object with high reflectivity exist, when the next light pulse is transmitted at the higher second power, the strength of the echo signals reflected by the measured object is still low because the measured object is at a long distance or is at a short distance with low reflectivity, crosstalk still cannot occur between channels, and therefore the distance of the part of the measured object with the long distance or the short distance with low reflectivity can be accurately measured.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes any laser radar control method provided by the embodiment of the application when being executed by a processor.

The above provides various embodiments for each protection subject, and on the basis of no conflict or contradiction, the person skilled in the art can freely combine various embodiments according to the actual situation, thereby constructing various different technical solutions. While the present disclosure is limited in terms of a space, it is not intended to be construed as a limitation on the scope of the disclosure of all combinations, but it is to be understood that such non-combinations are also within the scope of the disclosure of the embodiments of the present disclosure.

Embodiments of the application may take the form of a computer program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-usable storage media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by the computing device.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing has outlined rather broadly the methods and apparatus provided in embodiments of the present invention in order that the detailed description of the principles and embodiments of the present invention may be implemented in any way that is used to facilitate the understanding of the method and core concepts of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

A lidar control method, characterized by being applied to a coaxial lidar, the method comprising:

controlling the laser radar to emit light pulses in a first gear, and receiving echo signals corresponding to the light pulses;

if only one echo signal is received in the time window of the light pulse, switching the laser radar to a second gear, and enabling the laser radar to emit the next light pulse in the second gear;

the laser emission power corresponding to the second gear is lower than the laser emission power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than the amplification factor of the receiving circuit corresponding to the first gear.
The method according to claim 1, wherein the method further comprises:

if two echo signals are received in the time window of the light pulse, calculating the distance of the measured object according to the echo signals received later.
The method according to claim 2, wherein the method further comprises:

and if the calculated distance of the measured object is smaller than a preset distance threshold value, switching the laser radar to the second gear, and transmitting the next light pulse in the second gear.
A method according to claim 3, characterized in that the method further comprises:

and if the calculated distance of the measured object is greater than a preset distance threshold or the energy of the echo signal received later is less than a preset energy threshold, continuously transmitting the next light pulse with the first gear, or transmitting the next light pulse with a third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplifying power of the receiving circuit corresponding to the third gear is higher than the amplifying power of the receiving circuit corresponding to the first gear.
The method according to any one of claims 1-4, further comprising:

if the number of continuous occurrence times of the event of receiving only one echo signal in the time window of the optical pulse reaches a preset number of times threshold, switching the laser radar to the first gear, transmitting the next optical pulse by the first gear, or switching the laser radar to a third gear, and transmitting the next optical pulse by the third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the third gear is higher than the amplification factor of the receiving circuit corresponding to the first gear.
The method according to claim 1, wherein the method further comprises:

determining a corresponding interference signal according to the emergent direction of the next light pulse, wherein the interference signal is an echo signal reflected by the laser radar;

calculating a target signal based on the interference signal and the received echo signal corresponding to the next light pulse;

and calculating the distance of the measured object according to the target signal.
The method of claim 6, wherein the target signal is the echo signal corresponding to the next light pulse subtracted from the interference signal.
The method of claim 6, wherein said determining a corresponding interference signal based on the corresponding exit direction of the next light pulse comprises:

and determining the interference signal corresponding to the emergent direction of the next light pulse according to the corresponding relation between the pre-calibrated emergent direction and the interference signal.
The method of claim 8, wherein the lidar emits light pulses at a laser emission power corresponding to the second gear when calibrating the correspondence.
The method according to any one of claims 1-9, wherein the lidar is configured with a plurality of gear steps, the laser emission power and/or the amplification factor of the receiving circuit are different for different gear steps, and the first gear step is any gear step other than the second gear step of the plurality of gear steps.
A method of controlling a lidar, the lidar comprising a plurality of channels, the plurality of channels concurrently performing transmission of optical pulses and reception of echo signals, the method comprising:

controlling the plurality of channels of the lidar to each emit a pulse of light at a first power;

if the channels do not receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels of the laser radar to emit the next light pulse with the second power;

wherein the first power is less than the second power.
The method of claim 11, wherein the method further comprises:

and if the channels all receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels to continuously emit the next light pulse with the first power.
The method of claim 11, wherein the method further comprises:

if signal crosstalk between channels occurs when the channels are measured at the second power, discarding the measurement result, and controlling the channels to emit the next light pulse at the first power.
The method of claim 13, wherein the inter-channel signal crosstalk is determined based on a comparison of the received echo signal strength with a predetermined threshold.
The method of claim 13, wherein the inter-channel signal crosstalk is determined based on a comparison of a received echo signal waveform parameter with a predetermined waveform parameter.
The method of claim 11, wherein the reserved time period matches a time of flight corresponding to a maximum range of the lidar.
A lidar control device, wherein the lidar is a coaxial lidar, the device comprising: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

controlling the laser radar to emit light pulses in a first gear, and receiving echo signals corresponding to the light pulses;

if only one echo signal is received in the time window of the light pulse, switching the laser radar to a second gear, and enabling the laser radar to emit the next light pulse in the second gear;

The laser emission power corresponding to the second gear is lower than the laser emission power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than the amplification factor of the receiving circuit corresponding to the first gear.
The apparatus of claim 17, wherein the processor is further configured to:

if two echo signals are received in the time window of the light pulse, calculating the distance of the measured object according to the echo signals received later.
The apparatus of claim 18, wherein the processor is further configured to:

and if the calculated distance of the measured object is smaller than a preset distance threshold value, switching the laser radar to the second gear, and transmitting the next light pulse in the second gear.
The apparatus of claim 18, wherein the processor is further configured to:

and if the calculated distance of the measured object is greater than a preset distance threshold or the energy of the echo signal received later is less than a preset energy threshold, continuously transmitting the next light pulse with the first gear, or transmitting the next light pulse with a third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplifying power of the receiving circuit corresponding to the third gear is higher than the amplifying power of the receiving circuit corresponding to the first gear.
The apparatus of any one of claims 17-20, wherein the processor is further configured to:

if the number of continuous occurrence times of the event of receiving only one echo signal in the time window of the optical pulse reaches a preset number of times threshold, switching the laser radar to the first gear, transmitting the next optical pulse by the first gear, or switching the laser radar to a third gear, and transmitting the next optical pulse by the third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the third gear is higher than the amplification factor of the receiving circuit corresponding to the first gear.
The apparatus of claim 17, wherein the processor is further configured to:

determining a corresponding interference signal according to the emergent direction of the next light pulse, wherein the interference signal is an echo signal reflected by the laser radar;

calculating a target signal based on the interference signal and the received echo signal corresponding to the next light pulse;

and calculating the distance of the measured object according to the target signal.
The apparatus of claim 22, wherein the target signal is the echo signal corresponding to the next light pulse subtracted from the interference signal.
The apparatus of claim 22, wherein the processor is configured to, when determining the corresponding interference signal based on the corresponding exit direction of the next light pulse:

and determining the interference signal corresponding to the emergent direction of the next light pulse according to the corresponding relation between the pre-calibrated emergent direction and the interference signal.
The apparatus of claim 24, wherein the lidar emits light pulses at a laser emission power corresponding to the second gear when calibrating the correspondence.
The apparatus of any one of claims 17-25, wherein the lidar is configured with a plurality of gear steps, different gear steps corresponding to different laser transmit powers and/or different amplification factors of the receiving circuit, and the first gear step is any gear step other than the second gear step of the plurality of gear steps.
A lidar control device, wherein the lidar comprises a plurality of channels that simultaneously transmit light pulses and receive echo signals, the device comprising: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

Controlling the plurality of channels of the lidar to each emit a pulse of light at a first power;

if the channels do not receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels of the laser radar to emit the next light pulse with the second power;

wherein the first power is less than the second power.
The apparatus of claim 27, wherein the processor is further configured to:

and if the channels all receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels to continuously emit the next light pulse with the first power.
The apparatus of claim 27, wherein the processor is further configured to:

if signal crosstalk between channels occurs when the channels are measured at the second power, discarding the measurement result, and controlling the channels to emit the next light pulse at the first power.
The apparatus of claim 29, wherein the inter-channel signal crosstalk is determined based on a comparison of the received echo signal strength to a predetermined threshold.
The apparatus of claim 29, wherein the inter-channel signal crosstalk is determined based on a comparison of a received echo signal waveform parameter with a predetermined waveform parameter.
The apparatus of claim 27, wherein the reserved period of time matches a time of flight corresponding to a maximum range of the lidar.
A lidar, comprising:

a light source for emitting a sequence of light pulses;

an optical system for adjusting an outgoing direction of the light pulse;

the receiving circuit is used for receiving echo signals corresponding to the optical pulses;

the transmitting light path and the receiving light path of the laser radar are partially identical;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

controlling the laser radar to emit light pulses in a first gear, and receiving echo signals corresponding to the light pulses;

if only one echo signal is received in the time window of the light pulse, switching the laser radar to a second gear, and enabling the laser radar to emit the next light pulse in the second gear;

the laser emission power corresponding to the second gear is lower than the laser emission power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the second gear is lower than the amplification factor of the receiving circuit corresponding to the first gear.
The lidar of claim 33, wherein the processor is further configured to:

if two echo signals are received in the time window of the light pulse, calculating the distance of the measured object according to the echo signals received later.
The lidar of claim 34, wherein the processor is further configured to:

and if the calculated distance of the measured object is smaller than a preset distance threshold value, switching the laser radar to the second gear, and transmitting the next light pulse in the second gear.
The lidar of claim 34, wherein the processor is further configured to:

and if the calculated distance of the measured object is greater than a preset distance threshold or the energy of the echo signal received later is less than a preset energy threshold, continuously transmitting the next light pulse with the first gear, or transmitting the next light pulse with a third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplifying power of the receiving circuit corresponding to the third gear is higher than the amplifying power of the receiving circuit corresponding to the first gear.
The lidar according to any of claims 33 to 36, wherein the processor is further configured to:

if the number of continuous occurrence times of the event of receiving only one echo signal in the time window of the optical pulse reaches a preset number of times threshold, switching the laser radar to the first gear, transmitting the next optical pulse by the first gear, or switching the laser radar to a third gear, and transmitting the next optical pulse by the third gear, wherein the laser transmitting power corresponding to the third gear is higher than the laser transmitting power corresponding to the first gear, and/or the amplification factor of the receiving circuit corresponding to the third gear is higher than the amplification factor of the receiving circuit corresponding to the first gear.
The lidar of claim 33, wherein the processor is further configured to:

determining a corresponding interference signal according to the emergent direction of the next light pulse, wherein the interference signal is an echo signal reflected by the laser radar;

calculating a target signal based on the interference signal and the received echo signal corresponding to the next light pulse;

and calculating the distance of the measured object according to the target signal.
The lidar of claim 38, wherein the target signal is a result of subtracting the interfering signal from an echo signal corresponding to the next light pulse.
The lidar of claim 38, wherein the processor is configured to, when determining the corresponding interference signal based on the corresponding exit direction of the next light pulse:

and determining the interference signal corresponding to the emergent direction of the next light pulse according to the corresponding relation between the pre-calibrated emergent direction and the interference signal.
The lidar of claim 40, wherein the lidar emits a light pulse at a laser emission power corresponding to the second gear when calibrating the correspondence.
The lidar according to any of claims 33 to 41, wherein the lidar is provided with a plurality of gear positions, the different gear positions correspond to different laser emission powers and/or different amplification factors of the receiving circuit, and the first gear position is any gear position other than the second gear position of the plurality of gear positions.
A lidar, comprising:

each channel comprises a light source and a receiving circuit, wherein the light source is used for transmitting a light pulse sequence, the receiving circuit is used for receiving an echo signal corresponding to a light pulse of the channel in which the light source is positioned, and the channels simultaneously transmit the light pulse and receive the echo signal;

An optical system for adjusting an outgoing direction of the light pulse;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

controlling the plurality of channels of the lidar to each emit a pulse of light at a first power;

if the channels do not receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels of the laser radar to emit the next light pulse with the second power;

wherein the first power is less than the second power.
The lidar of claim 43, wherein the processor is further configured to:

and if the channels all receive echo signals corresponding to the light pulses emitted by the channels in the reserved time period, controlling the channels to continuously emit the next light pulse with the first power.
The lidar of claim 43, wherein the processor is further configured to:

if signal crosstalk between channels occurs when the channels are measured at the second power, discarding the measurement result, and controlling the channels to emit the next light pulse at the first power.
The lidar of claim 45, wherein the cross-channel signal is determined based on a comparison of the received echo signal strength to a predetermined threshold.
The lidar of claim 45, wherein the cross-channel signal is determined based on a comparison of a received echo signal waveform parameter with a predetermined waveform parameter.
The lidar of claim 43, wherein the reserved period of time matches a time of flight corresponding to a maximum range of the lidar.
A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any of claims 1-10.
A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any of claims 11-16.